基于虚拟力反馈的7-DOF仿人臂逆运动学求解方法

提出一种新型障碍空间描述法。利用其构成的虚拟力场对仿人臂产生的扭矩及关节优化，实时选择一个冗余关节并求等效虚拟扭矩，以其构成力反馈控制该冗余关节。将6自由度逆运动学解法用于仿人臂其余6个关节。仿真试验结果表明，这种新型逆运动学解法具有理想的避障效果，同时简化了逆动力学的求解，它同样适用于超冗余度机器人。

An Inverse Kinematics Solving Method of a 7-DOF Apery Arm Based on Virtual Force Feedback

A new kind of obstacle space expression is proposed, using it a virtual force field is constructed. The torque of the apery arm can be obtained via the virtual force field. Using the torque and joint optimization, a redundant joint is selected in real time and virtual equivalent torque is solved. The redundant joint can be controlled by the force feedback. Then, 6 DOF inverse kinematics is applied to the other six joints of the arm. The experimental results indicate that the new inverse kinematics has perfect obstacle avoidance effect, and the inverse kinematics is simplified simultaneously, which is the same with a robot with hyper degree of freedom.